Minimally invasive surgical instruments with terminal steerable mechanism

A minimally invasive surgical instrument with terminal steerable mechanism, comprising:

• a strip-shaped intervention device sequentially including a main section, a flexible section and an operation section from top to end,
• a control device, including:
• a sphere with a preset rotational degree of freedom;
• an operating lever connected to the sphere;
• and
• at least one spherical shell covering a portion of an outer surface of the sphere, wherein the operating lever penetrates and protrudes out through the at least one spherical shell, two predefined points of the periphery of the at least one spherical shell are fixed, and the at least one spherical shell is provided with a preset rotational degree of freedom around a rotation axis passing through the two predefined points, and
• at least one wire extended along the main section of the intervention device,
• wherein, a second end of the at least one wire is connected to the flexible section or the operation section of the intervention device, and a first end of the at least one wire is connected to the periphery of the at least one spherical shell that is not fixed.